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Description
Title: | Nonlinear control strategies for quadrotors and CubeSats |
Author(s): | Subramanian, Giri Prashanth |
Advisor(s): | Chung, Soon-Jo |
Department / Program: | Aerospace Engineering |
Discipline: | Aerospace Engineering |
Degree Granting Institution: | University of Illinois at Urbana-Champaign |
Degree: | M.S. |
Genre: | Thesis |
Subject(s): | Quadrotors
Controls Nonlinear controls Quadrotor testbed Swarms CubeSat System Engineering CubeSat Reconfiguration J2-invariant relative orbits Formation flight |
Abstract: | This thesis is presented in two parts. In the first part, a fully nonlinear controller is developed for controlling the position and attitude of the Crazyflie quadrotor. In order to use this controller, a system identification is first performed in order to completely model the dynamics of the Crazyflie quadrotor. A proof of convergence is also given for this controller to show that the developed controller is globally exponentially stable. The controller is then implemented on hardware and a quadrotor testbed capable of flying 10-15 quadrotors simultaneously, is developed. In the second part of the thesis, a Systems Engineering study for formation flying CubeSats has been undertaken. Two different kinds of formation flying missions using 4-6 CubeSats have been developed, one with an actively controlled formation and the other with a passively controlled formation. Different controllers have been developed for these missions and the current technological bottlenecks in realizing these missions have been identified. |
Issue Date: | 2015-07-20 |
Type: | Thesis |
URI: | http://hdl.handle.net/2142/88078 |
Rights Information: | Copyright 2015 Giri Prashanth Subramanian |
Date Available in IDEALS: | 2015-09-29 |
Date Deposited: | August 201 |
This item appears in the following Collection(s)
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Dissertations and Theses - Aerospace Engineering
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Graduate Dissertations and Theses at Illinois
Graduate Theses and Dissertations at Illinois